Doosan M0609 User Manual page 4

7.4.1
7.4.2
7.4.3
7.4.4
7.4.5
7.4.6
7.4.7
7.4.8
7.4.9
7.4.10 Collaborative Work Space Setting ........................................................................................................................ 58
7.4.11 Protection Section Setting ........................................................................................................................................ 59
7.4.12 Disable Collision Detection Section Setting ........................................................................................................ 60
7.4.13 Tool Direction Change Limit Section Setting ...................................................................................................... 61
7.5 End Effector Setting ......................................................................................... 61
7.5.1
7.5.2
7.5.3
7.5.4
7.5.5
7.6 Machine Tool Setting ....................................................................................... 69
7.7 Peripheral Setting ............................................................................................. 70
7.7.1
7.7.2
8. Task Builder ................................................................................ 74
8.1 Task Management ............................................................................................ 74
8.1.1
8.1.2
8.1.3
8.1.4
8.1.5
Doosan Robotics User Manual v1.7
World CoordinatesSetting ...................................................................................................................................... 42
Robot Limits Setting ................................................................................................................................................. 45
Safety I/O Setting ....................................................................................................................................................... 48
Safety Stop Modes Setting .................................................................................................................................... 52
Setting the robot's installation pose ........................................................................................................................ 53
Tool Shape Setting ................................................................................................................................................... 54
Tool Weight Setting .................................................................................................................................................... 54
Robot Operation Environment Types .................................................................................................................. 56
Robot Work Space Setting ..................................................................................................................................... 58
Grippers and Tools .................................................................................................................................................... 61
End Effector I/O Signal Setting ............................................................................................................................... 64
Testing the I/O of an end effactor ........................................................................................................................... 65
Tool Rotation Angle (A, B, C) within Tool Center Point Setting ..................................................................... 66
Tool Center Point Setting based on Other End Effeactors ............................................................................ 68
Others ............................................................................................................................................................................ 73
Vision .............................................................................................................................................................................. 73
Create New Task ....................................................................................................................................................... 74
Template ....................................................................................................................................................................... 74
Save Task .................................................................................................................................................................... 75
Save Task As .............................................................................................................................................................. 75
Editing Workcell Items ............................................................................................................................................. 75
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